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NASA NTRS2012

From EXOSAT to the High Energy Astrophysics Science Archive (HEASARC): X-ray Astronomy Comes of Age

In May 1983 the European Space Agency launched EXOSAT, its first X-ray astronomy observatory. Even though it lasted only 3 short years, this mission brought not only new capabilities that resulted in unexpected discoveries, but also a pioneering approach to operations and archiving that changed X-ray astronomy from observations led by small instrument teams, to an observatory approach open to the entire community through a guest observer program. The community use of the observatory was supported by a small dedicated team of scientists, the precursor to the data center activities created to support e.g. Chandra and XMM-Newton. The new science capabilities of EX OS AT included a 90 hr highly eccentric high earth orbit that allow unprecedented continuous coverage of sources as well as direct communication with the satellite that allowed real time decisions to respond to unexpected events through targets of opportunity. The advantages of this orbit demonstrated by EXOSAT resulted in Chandra and XMM-Newton selecting similar orbits. The three instruments on board the EXOSAT observatory were complementary, designed to give complete coverage over a wide energy band pass of 0.05-50 keY. An onboard processor could be programmed to give multiple data modes that could be optimized in response to science discoveries: These new capabilities resulted in many new discoveries including the first comprehensive study of AGN variability, new orbital periods in X-ray binaries and cataclysmic variables, new black holes, quasi-periodic oscillations from neutron stars and black holes and broad band X-ray spectroscopy. The EXOSAT team generated a well-organized database accessible worldwide over the nascent internet, allowing remote selection of data products, making samples and undertaking surveys from the data. The HEASARC was established by NASA at Goddard Space Flight Center in 1990 as the repository of NASA X-ray and Gamma-ray data. The proven EXOSAT database system became the core of the HEASARC infrastructure. The HEASARC pioneered many concepts now taken for granted including standardized formats using FITS files, restoring data from earlier missions, multi-mission analysis tools and a searchable archive over the world wide web.

White, Nicholas E.↗
NASA NTRS1993

A general rough-surface inversion algorithm: Theory and application to SAR data

Rough-surface inversion has significant applications in interpretation of SAR data obtained over bare soil surfaces and agricultural lands. Due to the sparsity of data and the large pixel size in SAR applications, it is not feasible to carry out inversions based on numerical scattering models. The alternative is to use parameter estimation techniques based on approximate analytical or empirical models. Hence, there are two issues to be addressed, namely, what model to choose and what estimation algorithm to apply. Here, a small perturbation model (SPM) is used to express the backscattering coefficients of the rough surface in terms of three surface parameters. The algorithm used to estimate these parameters is based on a nonlinear least-squares criterion. The least-squares optimization methods are widely used in estimation theory, but the distinguishing factor for SAR applications is incorporating the stochastic nature of both the unknown parameters and the data into formulation, which will be discussed in detail. The algorithm is tested with synthetic data, and several Newton-type least-squares minimization methods are discussed to compare their convergence characteristics. Finally, the algorithm is applied to multifrequency polarimetric SAR data obtained over some bare soil and agricultural fields. Results will be shown and compared to ground-truth measurements obtained from these areas. The strength of this general approach to inversion of SAR data is that it can be easily modified for use with any scattering model without changing any of the inversion steps. Note also that, for the same reason it is not limited to inversion of rough surfaces, and can be applied to any parameterized scattering process.

Moghaddam, M.↗
NASA NTRS1994

A simple suboptimal least-squares algorithm for attitude determination with multiple sensors

Three-axis attitude determination is equivalent to finding a coordinate transformation matrix which transforms a set of reference vectors fixed in inertial space to a set of measurement vectors fixed in the spacecraft. The attitude determination problem can be expressed as a constrained optimization problem. The constraint is that a coordinate transformation matrix must be proper, real, and orthogonal. A transformation matrix can be thought of as optimal in the least-squares sense if it maps the measurement vectors to the reference vectors with minimal 2-norm errors and meets the above constraint. This constrained optimization problem is known as Wahba's problem. Several algorithms which solve Wahba's problem exactly have been developed and used. These algorithms, while steadily improving, are all rather complicated. Furthermore, they involve such numerically unstable or sensitive operations as matrix determinant, matrix adjoint, and Newton-Raphson iterations. This paper describes an algorithm which minimizes Wahba's loss function, but without the constraint. When the constraint is ignored, the problem can be solved by a straightforward, numerically stable least-squares algorithm such as QR decomposition. Even though the algorithm does not explicitly take the constraint into account, it still yields a nearly orthogonal matrix for most practical cases; orthogonality only becomes corrupted when the sensor measurements are very noisy, on the same order of magnitude as the attitude rotations. The algorithm can be simplified if the attitude rotations are small enough so that the approximation sin(theta) approximately equals theta holds. We then compare the computational requirements for several well-known algorithms. For the general large-angle case, the QR least-squares algorithm is competitive with all other know algorithms and faster than most. If attitude rotations are small, the least-squares algorithm can be modified to run faster, and this modified algorithm is faster than all but a similarly specialized version of the QUEST algorithm. We also introduce a novel measurement averaging technique which reduces the n-measurement case to the two measurement case for our particular application, a star tracker and earth sensor mounted on an earth-pointed geosynchronous communications satellite. Using this technique, many n-measurement problems reduce to less than or equal to 3 measurements; this reduces the amount of required calculation without significant degradation in accuracy. Finally, we present the results of some tests which compare the least-squares algorithm with the QUEST and FOAM algorithms in the two-measurement case. For our example case, all three algorithms performed with similar accuracy.

Brozenec, Thomas F.↗
NASA NTRS1998

Conversion from Engineering Units to Telemetry Counts on Dryden Flight Simulators

Dryden real-time flight simulators encompass the simulation of pulse code modulation (PCM) telemetry signals. This paper presents a new method whereby the calibration polynomial (from first to sixth order), representing the conversion from counts to engineering units (EU), is numerically inverted in real time. The result is less than one-count error for valid EU inputs. The Newton-Raphson method is used to numerically invert the polynomial. A reverse linear interpolation between the EU limits is used to obtain an initial value for the desired telemetry count. The method presented here is not new. What is new is how classical numerical techniques are optimized to take advantage of modem computer power to perform the desired calculations in real time. This technique makes the method simple to understand and implement. There are no interpolation tables to store in memory as in traditional methods. The NASA F-15 simulation converts and transmits over 1000 parameters at 80 times/sec. This paper presents algorithm development, FORTRAN code, and performance results.

Fantini, Jay A.↗
NASA NTRS1979

NLSCIDNT user's guide maximum likehood parameter identification computer program with nonlinear rotorcraft model

A nonlinear, maximum likelihood, parameter identification computer program (NLSCIDNT) is described which evaluates rotorcraft stability and control coefficients from flight test data. The optimal estimates of the parameters (stability and control coefficients) are determined (identified) by minimizing the negative log likelihood cost function. The minimization technique is the Levenberg-Marquardt method, which behaves like the steepest descent method when it is far from the minimum and behaves like the modified Newton-Raphson method when it is nearer the minimum. Twenty-one states and 40 measurement variables are modeled, and any subset may be selected. States which are not integrated may be fixed at an input value, or time history data may be substituted for the state in the equations of motion. Any aerodynamic coefficient may be expressed as a nonlinear polynomial function of selected 'expansion variables'.

Source record↗
NASA NTRS1999

Integrated Modeling Tools for Thermal Analysis and Applications

Integrated modeling of spacecraft systems is a rapidly evolving area in which multidisciplinary models are developed to design and analyze spacecraft configurations. These models are especially important in the early design stages where rapid trades between subsystems can substantially impact design decisions. Integrated modeling is one of the cornerstones of two of NASA's planned missions in the Origins Program -- the Next Generation Space Telescope (NGST) and the Space Interferometry Mission (SIM). Common modeling tools for control design and opto-mechanical analysis have recently emerged and are becoming increasingly widely used. A discipline that has been somewhat less integrated, but is nevertheless of critical concern for high precision optical instruments, is thermal analysis and design. A major factor contributing to this mild estrangement is that the modeling philosophies and objectives for structural and thermal systems typically do not coincide. Consequently the tools that are used in these discplines suffer a degree of incompatibility, each having developed along their own evolutionary path. Although standard thermal tools have worked relatively well in the past. integration with other disciplines requires revisiting modeling assumptions and solution methods. Over the past several years we have been developing a MATLAB based integrated modeling tool called IMOS (Integrated Modeling of Optical Systems) which integrates many aspects of structural, optical, control and dynamical analysis disciplines. Recent efforts have included developing a thermal modeling and analysis capability, which is the subject of this article. Currently, the IMOS thermal suite contains steady state and transient heat equation solvers, and the ability to set up the linear conduction network from an IMOS finite element model. The IMOS code generates linear conduction elements associated with plates and beams/rods of the thermal network directly from the finite element structural model. Conductances for temperature varying materials are accommodated. This capability both streamlines the process of developing the thermal model from the finite element model, and also makes the structural and thermal models compatible in the sense that each structural node is associated with a thermal node. This is particularly useful when the purpose of the analysis is to predict structural deformations due to thermal loads. The steady state solver uses a restricted step size Newton method, and the transient solver is an adaptive step size implicit method applicable to general differential algebraic systems. Temperature dependent conductances and capacitances are accommodated by the solvers. In addition to discussing the modeling and solution methods. applications where the thermal modeling is "in the loop" with sensitivity analysis, optimization and optical performance drawn from our experiences with the Space Interferometry Mission (SIM), and the Next Generation Space Telescope (NGST) are presented.

Milman, Mark H.↗
NASA NTRS1989

Efficient mapping algorithms for scheduling robot inverse dynamics computation on a multiprocessor system

Two efficient mapping algorithms for scheduling the robot inverse dynamics computation consisting of m computational modules with precedence relationship to be executed on a multiprocessor system consisting of p identical homogeneous processors with processor and communication costs to achieve minimum computation time are presented. An objective function is defined in terms of the sum of the processor finishing time and the interprocessor communication time. The minimax optimization is performed on the objective function to obtain the best mapping. This mapping problem can be formulated as a combination of the graph partitioning and the scheduling problems; both have been known to be NP-complete. Thus, to speed up the searching for a solution, two heuristic algorithms were proposed to obtain fast but suboptimal mapping solutions. The first algorithm utilizes the level and the communication intensity of the task modules to construct an ordered priority list of ready modules and the module assignment is performed by a weighted bipartite matching algorithm. For a near-optimal mapping solution, the problem can be solved by the heuristic algorithm with simulated annealing. These proposed optimization algorithms can solve various large-scale problems within a reasonable time. Computer simulations were performed to evaluate and verify the performance and the validity of the proposed mapping algorithms. Finally, experiments for computing the inverse dynamics of a six-jointed PUMA-like manipulator based on the Newton-Euler dynamic equations were implemented on an NCUBE/ten hypercube computer to verify the proposed mapping algorithms. Computer simulation and experimental results are compared and discussed.

Lee, C. S. G.↗
NASA NTRS1991

Rapid Design of Gravity Assist Trajectories

Several International Solar Terrestrial Physics (ISTP) missions require the design of complex gravity assisted trajectories in order to investigate the interaction of the solar wind with the Earth's magnetic field. These trajectories present a formidable trajectory design and optimization problem. The philosophy and methodology that enable an analyst to design and analyse such trajectories are discussed. The so called 'floating end point' targeting, which allows the inherently nonlinear multiple body problem to be solved with simple linear techniques, is described. The combination of floating end point targeting with analytic approximations with a Newton method targeter to achieve trajectory design goals quickly, even for the very sensitive double lunar swingby trajectories used by the ISTP missions, is demonstrated. A multiconic orbit integration scheme allows fast and accurate orbit propagation. A prototype software tool, Swingby, built for trajectory design and launch window analysis, is described.

Carrico, J.↗
NASA NTRS1973

A parallel variable metric optimization algorithm

An algorithm, designed to exploit the parallel computing or vector streaming (pipeline) capabilities of computers is presented. When p is the degree of parallelism, then one cycle of the parallel variable metric algorithm is defined as follows: first, the function and its gradient are computed in parallel at p different values of the independent variable; then the metric is modified by p rank-one corrections; and finally, a single univariant minimization is carried out in the Newton-like direction. Several properties of this algorithm are established. The convergence of the iterates to the solution is proved for a quadratic functional on a real separable Hilbert space. For a finite-dimensional space the convergence is in one cycle when p equals the dimension of the space. Results of numerical experiments indicate that the new algorithm will exploit parallel or pipeline computing capabilities to effect faster convergence than serial techniques.

Straeter, T. A.↗
NASA NTRS1993

Formulation for Simultaneous Aerodynamic Analysis and Design Optimization

An efficient approach for simultaneous aerodynamic analysis and design optimization is presented. This approach does not require the performance of many flow analyses at each design optimization step, which can be an expensive procedure. Thus, this approach brings us one step closer to meeting the challenge of incorporating computational fluid dynamic codes into gradient-based optimization techniques for aerodynamic design. An adjoint-variable method is introduced to nullify the effect of the increased number of design variables in the problem formulation. The method has been successfully tested on one-dimensional nozzle flow problems, including a sample problem with a normal shock. Implementations of the above algorithm are also presented that incorporate Newton iterations to secure a high-quality flow solution at the end of the design process. Implementations with iterative flow solvers are possible and will be required for large, multidimensional flow problems.

Hou, G. W.↗
NASA NTRS2003

Optimization Based Efficiencies in First Order Reliability Analysis

This paper develops a method for updating the gradient vector of the limit state function in reliability analysis using Broyden's rank one updating technique. In problems that use commercial code as a black box, the gradient calculations are usually done using a finite difference approach, which becomes very expensive for large system models. The proposed method replaces the finite difference gradient calculations in a standard first order reliability method (FORM) with Broyden's Quasi-Newton technique. The resulting algorithm of Broyden updates within a FORM framework (BFORM) is used to run several example problems, and the results compared to standard FORM results. It is found that BFORM typically requires fewer functional evaluations that FORM to converge to the same answer.

Peck, Jeffrey A.↗
NASA NTRS1991

Rapid design of gravity assist trajectories

Several International Solar-Terrestrial Physics (ISTP) missions require the design of complex gravity-assisted trajectories in order to investigate the interaction of the solar wind with the earth's magnetic field. These trajectories present a formidable trajectory design and optimization problem. This paper discusses the philosophy and methodology that enable an analyst to design and analyze such trajectories. The authors describe what is called 'floating end-point' targeting, which allows the inherently nonlinear multiple body problem to be solved with simple linear techniques. This paper demonstrates how floating end-point targeting combines analytic approximations with a Newton method targeter to achieve trajectory design goals quickly, even for the very sensitive double lunar swingby trajectories used by the ISTP missions. A Multiconic orbit integration scheme allows fast and accurate orbit propagation. This paper also describes a prototype software tool, Swingby, which has been built for trajectory design and launch window analysis.

Carrico, J.↗
NASA NTRS2001

Reflection Grating Array Associated with the Reflection Grating Spectrometer Developed by the Space Research Organization of the Netherlands for the X-ray Multi-Mirror Mission (XMM)

The University of California, Berkeley (UCB) served as the Principal Investigator institution for the United States participation in the development of the Reflection Grating Spectrometer (RGS) which included the design, development, fabrication, and testing of the Reflection Grating Assembly (RGA). UCB was assisted in this role by the Lawrence Livermore National Laboratory and Columbia University who provided the primary facilities, materials, services and personnel necessary to complete the development. UC Berkeley's Dr. Steven Kahn provided the technical and scientific oversight for the design. development and testing of the RGA units by monitoring the performance of the units at various stages in their development. Dr. Kahn was also the primary contact with the Space Research Organization of the Netherlands (SRON) and represented the RGA development at all SRON and European Space Agency (ESA) reviews of the RGA status. In accordance with the contract, the team designed and developed novel optical technology to meet the unique requirements of the RGS. The ESA XMM-Newton Mission carries two identical Reflection Grating Spectrometers (RGS) behind two of its three nested sets of Wolter I type mirrors. The instrument allows high-resolution measurements in the soft X-ray range (6 to 38 angstroms or 2.1 to 0.3 keV) with a maximum effective area of about 140 sq cm at 15 angstroms. Its design is optimized for the detection of the K-shell transitions of carbon, nitrogen, oxygen, neon, magnesium, and silicon. as well as the L shell transitions of iron. The RGA itself consists of two units. A structure for each unit was designed to hold up to 220 gratings. In its final configuration, one unit holds 182 gratings and the second hold 181 gratings.

Kahn, Steven M.↗
NASA NTRS1996

Estimation of the longitudinal and lateral-directional aerodynamic parameters from flight data for the NASA F/A-18 HARV

This progress report presents the results of an investigation focused on parameter identification for the NASA F/A-18 HARV. This aircraft was used in the high alpha research program at the NASA Dryden Flight Research Center. In this study the longitudinal and lateral-directional stability derivatives are estimated from flight data using the Maximum Likelihood method coupled with a Newton-Raphson minimization technique. The objective is to estimate an aerodynamic model describing the aircraft dynamics over a range of angle of attack from 5 deg to 60 deg. The mathematical model is built using the traditional static and dynamic derivative buildup. Flight data used in this analysis were from a variety of maneuvers. The longitudinal maneuvers included large amplitude multiple doublets, optimal inputs, frequency sweeps, and pilot pitch stick inputs. The lateral-directional maneuvers consisted of large amplitude multiple doublets, optimal inputs and pilot stick and rudder inputs. The parameter estimation code pEst, developed at NASA Dryden, was used in this investigation. Results of the estimation process from alpha = 5 deg to alpha = 60 deg are presented and discussed.

Napolitano, Marcello R.↗
NASA NTRS1988

Stability sensitivity analysis for the aeroelastic optimization of a helicopter rotor

A sensitivity study of blade stability in forward flight for a hingeless rotor with respect to structural design variables is carried out using a direct analytical method. Structural design variables include nonstructural mass distribution (spanwise and chordwise), chordwise offset of center of gravity, and blade bending stiffnesses (flap, lag and torsion). The formulation for blade steady response is based on a finite element method in space and time. The vehicle trim and blade steady response are calculated iteratively as one coupled solution using a modified Newton method. Eigenvalues corresponding to different blade modes are calculated using Floquet transition matrix theory. The formulation for derivatives of the eigenvalues with respect to design variables is implemented using a direct analytical approach (chain rule differentiation), and constitutes an integral part of the regular stability analysis. The stability sensitivity derivatives were obtained at a fraction of computation time compared to the frequently adopted finite difference method. A parametric study showed that nonstructural mass and chordwise cg offset of outboarad elements, and lag bending stiffness of inboard elements, have powerful influence on blade stability.

Lim, Joon W.↗
NASA NTRS2000

The Reflection Grating Spectrometer on Board XMM-Newton

The ESA X-ray Multi Mirror mission, XMM-Newton, carries two identical Reflection Grating Spectrometers (RGS) behind two of its three nested sets of Wolter I type mirrors. The instrument allows high-resolution (E/(Delta)E = 100 to 500) measurements in the soft X-ray range (6 to 38 A or 2.1 to 0.3 keV) with a maximum effective area of about 140 sq cm at 15 A. Its design is optimized for the detection of the K-shell transitions of carbon, nitrogen, oxygen, neon, magnesium, and silicon. as well as the L shell transitions of iron. The present paper gives a full description of the design of the RGS and its operational modes. We also review details of the calibrations and in-orbit performance including the line spread function, the wavelength calibration, the effective area, and the instrumental background.

denHerder, J. W.↗
NASA NTRS1997

Design of a Minimum Surface-Effect Tendon-Based Microactuator for Micromanipulation

A piezoelectric (PZT) stack-based actuator was developed to provide a means of actuation with dynamic characteristics appropriate for small-scale manipulation. In particular, the design incorporates a highly nonlinear, large-ratio transmission that provides approximately two orders of magnitude motion amplification from the PZT stack. In addition to motion amplification, the nonlinear transmission was designed via optimization methods to distort the highly non-uniform properties of a piezoelectric actuator so that the achievable actuation force is nearly constant throughout the actuator workspace. The package also includes sensors that independently measure actuator output force and displacement, so that a manipulator structure need not incorporate sensors nor the associated wires. Specifically, the actuator was designed to output a maximum force of at least one Newton through a stroke of at least one millimeter. For purposes of small-scale precision position and/or force control, the actuator/sensor package was designed to eliminate stick-slip friction and backlash. The overall dimensions of the actuator/sensor package are approximately 40 x 65 x 25 mm.

Goldfarb, Michael↗